Title:
Automation of the Bird Shoulder Joint Deboning
Automation of the Bird Shoulder Joint Deboning
Authors
Zhou, Debao
Holmes, Jonathan
Holcombe, Wiley
McMurray, Gary
Holmes, Jonathan
Holcombe, Wiley
McMurray, Gary
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Abstract
Poultry deboning processing is one of the largest
employers of people in the United States. It involves mainly
manual processes with only limited use of fixed automation. The
main difficulty in this task is the unstructured nature of the task
due to the natural variability of birds’ size and deformable
bodies. To increase product safety and quality, the industry is
looking to robotics to help solve these problems. This research
has focused on automating cutting of bird front halves. The
anatomic structure of the chicken shoulder joint was studied first.
Thus the cutting locations on chicken front halves were identified.
In conjunction with force control robotics, a 3-DOF device with
the capability for size adaptation and deformation compensation
was proposed and the cutting trajectory was simulated. The
results of the dynamic simulation verified that the desired
trajectory can be followed and the response time for bone
detection can be satisfied. A functional prototype of this device
has been built and is currently under evaluation.
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Date Issued
2007-09
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